機器人關節圖的繪圖位置不起作用

Question

我想編寫一個命令來顯示機器人位置的方程式及其圖形。這是我的命令，但它並沒有顯示圖表：按情節

clear; 
clc; 

% initial position 
theta1s=-150; 
theta2s=-80; 
theta3s=-50; 
theta4s=-100; 
theta5s=-180; 

% final position 
theta1f=20; 
theta2f=100; 
theta3f=80; 
theta4f=50; 
theta5f=180; 

% time taken for movement 
tf=input('time=') 

% acceleration for every link 
acc1=(4.*(20-(-150)))./(tf^2) 
acc2=(4.*(100-(-80)))./(tf^2) 
acc3=(4.*(80-(-50)))./(tf^2) 
acc4=(4.*(50-(-100)))./(tf^2) 
acc5=(4.*(180-(-180)))./(tf^2) 

% blending time for every link 
tb1=((0.5.*(tf))-(0.5.*(sqrt((((tf^2).*acc1)-(4.*(20-(-150))))./acc1)))) 
t = 0; 
for x = 0:tf; 
    t = t + 0.1; 
    if 0<t<=tb1; 
     y = theta1s+((0.5.*acc1).*(t^2)); 
    elseif tb1<t<=tf-tb1; 
     y = (theta1s-((0.5.*acc1).*(tb1^2)))+(acc1.*tb1.*t); 
    else tf-tb1<t<=tf; 
     y = theta1s-((0.5.*acc1).*(tf.*t)^2); 
    end 

    plot(x,y,'r') 
    title('Position Versus Time'); 
    xlabel('time in s'); 
    ylabel('position in m'); 
    grid on; 
    drawnow; 
end 

disp(y); 

Answer 1

您可以替換圖（X，Y， 'R'）（X，Y， 'R *'）。所以，你將能夠看到sepparate點。 您還需要在繪圖函數之後添加「hold on」以便能夠覆蓋所有迭代的圖。

如果要繪製直線但不要劃分點，最好將可視化移出循環。這裏是修改後的代碼：

clear; 
clc; 

% initial position 
theta1s=-150; 
theta2s=-80; 
theta3s=-50; 
theta4s=-100; 
theta5s=-180; 

% final position 
theta1f=20; 
theta2f=100; 
theta3f=80; 
theta4f=50; 
theta5f=180; 

% time taken for movement 
tf=input('time=') 

% acceleration for every link 
acc1=(4.*(20-(-150)))./(tf^2) 
acc2=(4.*(100-(-80)))./(tf^2) 
acc3=(4.*(80-(-50)))./(tf^2) 
acc4=(4.*(50-(-100)))./(tf^2) 
acc5=(4.*(180-(-180)))./(tf^2) 

% blending time for every link 
tb1=((0.5.*(tf))-(0.5.*(sqrt((((tf^2).*acc1)-(4.*(20-(-150))))./acc1)))) 
t = 0; 

% allocate memory for array 
y = zeros(1, tf+1); 

for x = 0:tf; 
    t = t + 0.1; 
    if 0<t<=tb1; 
     y(x+1) = theta1s+((0.5.*acc1).*(t^2)); 
    elseif tb1<t<=tf-tb1; 
     y(x+1) = (theta1s-((0.5.*acc1).*(tb1^2)))+(acc1.*tb1.*t); 
    else tf-tb1<t<=tf; 
     y(x+1) = theta1s-((0.5.*acc1).*(tf.*t)^2); 
    end 
end 

plot(0:tf,y,'r') 
title('Position Versus Time'); 
xlabel('time in s'); 
ylabel('position in m'); 
grid on; 
drawnow; 

disp(y);